Abstract
Many applications of mobile mapping want to automatic classification point clouds into different classes for further processing. In this chapter we present a new approach for labeling 3D point clouds with using a novel feature descriptor—the four directions scan line gradient, and context classification models—associative Markov network (AMN). To build informative and robust 3D feature point representations, our descriptors encode the underlying surface geometry around a point using multi-scanlines gradients. It is more stable and reliable than normal vectors in urban environments with wide variety of natural and manmade objects. By defining objects models of 3D geometric surfaces and making use of contextual information of AMN, our system is able to successfully segment and label 3D point clouds. We use FC09 datasets to evaluate the proposed algorithm.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Montemerlo M, Becker J, Bhat S, Dahlkamp H, Dolg D, Ettinger S, Haehnel D (2008) Junior: the stanford entry in the urban challenge. J Field Robot 25(9):569–597 C
Lalonde J-F, Vandapel N, Hebert M (2007) Data structures for efficient dynamic processing in 3-d. Int J Robot Res 26(8):777–796
Taskar B, Chatalbashev V, Koller D (2004) Learning associative Markov networks. In: Twenty first international conference on machine learning
Alexa M, Adamson A (2004) On normals and projection operators for surfaces defined by point sets. In: Proceedings of symposium on point-based graphics, pp 149–155
Mitra NJ, Nguyen A (2003) Estimating surface normals in noisy point cloud data. In: SCG’03: Proceedings of the nineteenth annual symposium on computational geometry, pp 322–328
Burel G, H′enocq H (1995) Three-dimensional invariants and their application to object recognition. Signal Process 45(1):1–22
Gelfand N, Mitra NJ, Guibas LJ, Pottmann H (2005) Robust global egistration. In: Proceedings of symposium on geometric processing
Anguelov D, Taskar B, Chatalbashev V, Koller D, Gupta D, Heitz G, Ng A (2005) Discriminative learning of Markov random fields for segmentation of 3d scan data. In: Proceedings of the conference on computer vision and pattern recognition (CVPR) pp 169–176
Frome A, Huber D, Kolluri R, Bulow T, Malik J (2004) Recognizing objects in range data using regional point descriptors. In: Proceedings of ECCV
Limketkai B, Liao L, Fox D (2005) Relational object maps for mobile robots. In: Proceedings of the international joint conference on artificial intelligence (IJCAI), pp 1471–1476
Anguelov D, Taskar B, Chatalbashev V, Koller D, Gupta D, Heitz G, Ng A (2005) Discriminative learning of markov random fields for segmentation of 3d scan data. In: Proceedings of the conference on computer vision and pattern recognition (CVPR), pp 169–176
Meltzer T, Yanover C, Weiss Y (2005) Globally optimal solutions for energy minimization in stereo vision using reweighted belief propagation. In: ICCV pp 428–435
Kolmogorov V (2006) Convergent tree-reweighted message passing for energy minimization. PAMI 28(10):1568–1583
Kohli P, Kumar M, Torr P (2007) P3 & beyond: solving energies with higher order cliques. In: CVPR
Boykov Y, Veksler O, Zabih R, Fast approximate energy minimization via graph cut, IEEE Transactions on 23:1222–1239
Acknowledgments
National Natural Science Foundation of China under Grant No. 41050110437,41001306.
“Remote Collaboration Office Management Information System” Science and Technology Project of Henan Electric Power Company (2010 Batch 1 Class 3 Item 14).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer Science+Business Media B.V.
About this paper
Cite this paper
Wang, G., Li, M., Zhou, T., Chen, L. (2012). The Automatic Classification 3D Point Clouds Based Associative Markov Network Using Context Information. In: He, X., Hua, E., Lin, Y., Liu, X. (eds) Computer, Informatics, Cybernetics and Applications. Lecture Notes in Electrical Engineering, vol 107. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-1839-5_183
Download citation
DOI: https://doi.org/10.1007/978-94-007-1839-5_183
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-1838-8
Online ISBN: 978-94-007-1839-5
eBook Packages: EngineeringEngineering (R0)